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<div class="title">DRVCTRL.cpp</div>  </div>
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<a href="_d_r_v_c_t_r_l_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_t_m_c_stepper_8h.html">TMCStepper.h</a>&quot;</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_t_m_c___m_a_c_r_o_s_8h.html">TMC_MACROS.h</a>&quot;</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno"><a class="line" href="_d_r_v_c_t_r_l_8cpp.html#a0106901688e6b216cfea491ef26cf85f">    4</a></span>&#160;<span class="preprocessor">#define SET_REG0(SETTING) DRVCTRL_0_register.SETTING = B; DRVCTRL(DRVCTRL_0_register.sr)</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"><a class="line" href="_d_r_v_c_t_r_l_8cpp.html#a4ff3043b0f9b12262b29bb6d2a18bf43">    5</a></span>&#160;<span class="preprocessor">#define SET_REG1(SETTING) DRVCTRL_1_register.SETTING = B; DRVCTRL(DRVCTRL_1_register.sr)</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"><a class="line" href="_d_r_v_c_t_r_l_8cpp.html#a2543a2e98c05e6772d620d3c538ef0c4">    6</a></span>&#160;<span class="preprocessor">#define GET_REG0(SETTING) return DRVCTRL_0_register.SETTING</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"><a class="line" href="_d_r_v_c_t_r_l_8cpp.html#a2d160d3af75cffb12b479504897a995d">    7</a></span>&#160;<span class="preprocessor">#define GET_REG1(SETTING) return DRVCTRL_1_register.SETTING</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
<div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="class_t_m_c2660_stepper.html#a45ae40bd2b9b997b9cfedb13403e2387">    9</a></span>&#160;uint32_t <a class="code" href="class_t_m_c2660_stepper.html#a45ae40bd2b9b997b9cfedb13403e2387">TMC2660Stepper::DRVCTRL</a>() {</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;    <span class="keywordflow">if</span>(<a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>() == 1) <span class="keywordflow">return</span> DRVCTRL_1_register.sr;</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">return</span> DRVCTRL_0_register.sr;</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;}</div>
<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="class_t_m_c2660_stepper.html#a52b5e94e7a6a339f4c58f47edbf97f0b">   13</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c2660_stepper.html#a45ae40bd2b9b997b9cfedb13403e2387">TMC2660Stepper::DRVCTRL</a>(uint32_t data) {</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    <span class="keywordflow">if</span>(<a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>() == 1) {</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;        DRVCTRL_1_register.sr = data;</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;        <a class="code" href="class_t_m_c2660_stepper.html#a4ab9b5cf6da0c345ecc50e877b54ada2">write</a>(DRVCTRL_1_register.address, DRVCTRL_1_register.sr);</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;        DRVCTRL_0_register.sr = data;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;        <a class="code" href="class_t_m_c2660_stepper.html#a4ab9b5cf6da0c345ecc50e877b54ada2">write</a>(DRVCTRL_0_register.address, DRVCTRL_0_register.sr);</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    }</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;}</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// DRVCTRL (SPI)</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="class_t_m_c2660_stepper.html#a34056dfd3ea3f75882fbbc854842e152">   24</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c2660_stepper.html#ad50b2558c9585aa94f36c4b84c1fac50">TMC2660Stepper::pha</a>(<span class="keywordtype">bool</span> B)    { <span class="keywordflow">if</span>(<a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>() == 0) <span class="keywordflow">return</span>; <a class="code" href="_d_r_v_c_t_r_l_8cpp.html#a4ff3043b0f9b12262b29bb6d2a18bf43">SET_REG1</a>(<a class="code" href="class_t_m_c2660_stepper.html#ad50b2558c9585aa94f36c4b84c1fac50">pha</a>); }</div>
<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="class_t_m_c2660_stepper.html#a1a86dcdb6d9427c26ebe61f521f9b77b">   25</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c2660_stepper.html#a90e88f991704c5fc7cdcb7212db59020">TMC2660Stepper::ca</a>(uint8_t B)  { <span class="keywordflow">if</span>(<a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>() == 0) <span class="keywordflow">return</span>; <a class="code" href="_d_r_v_c_t_r_l_8cpp.html#a4ff3043b0f9b12262b29bb6d2a18bf43">SET_REG1</a>(<a class="code" href="class_t_m_c2660_stepper.html#a90e88f991704c5fc7cdcb7212db59020">ca</a>);  }</div>
<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="class_t_m_c2660_stepper.html#a92ae81a43023855f5d4ded8f372b2710">   26</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c2660_stepper.html#ab3470fd014ef1f39c90c6f086d331921">TMC2660Stepper::phb</a>(<span class="keywordtype">bool</span> B)    { <span class="keywordflow">if</span>(<a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>() == 0) <span class="keywordflow">return</span>; <a class="code" href="_d_r_v_c_t_r_l_8cpp.html#a4ff3043b0f9b12262b29bb6d2a18bf43">SET_REG1</a>(<a class="code" href="class_t_m_c2660_stepper.html#ab3470fd014ef1f39c90c6f086d331921">phb</a>); }</div>
<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="class_t_m_c2660_stepper.html#a92d48c320fd7644e605aa660aa6f1b7d">   27</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c2660_stepper.html#ada1f2c5c372e9aa434c72bc825ce769d">TMC2660Stepper::cb</a>(uint8_t B)  { <span class="keywordflow">if</span>(<a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>() == 0) <span class="keywordflow">return</span>; <a class="code" href="_d_r_v_c_t_r_l_8cpp.html#a4ff3043b0f9b12262b29bb6d2a18bf43">SET_REG1</a>(<a class="code" href="class_t_m_c2660_stepper.html#ada1f2c5c372e9aa434c72bc825ce769d">cb</a>);  }</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="class_t_m_c2660_stepper.html#ad50b2558c9585aa94f36c4b84c1fac50">   29</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="class_t_m_c2660_stepper.html#ad50b2558c9585aa94f36c4b84c1fac50">TMC2660Stepper::pha</a>()    { <span class="keywordflow">if</span>(<a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>() == 0) <a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>(1); <a class="code" href="_d_r_v_c_t_r_l_8cpp.html#a2d160d3af75cffb12b479504897a995d">GET_REG1</a>(<a class="code" href="class_t_m_c2660_stepper.html#ad50b2558c9585aa94f36c4b84c1fac50">pha</a>); }</div>
<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="class_t_m_c2660_stepper.html#a90e88f991704c5fc7cdcb7212db59020">   30</a></span>&#160;uint8_t <a class="code" href="class_t_m_c2660_stepper.html#a90e88f991704c5fc7cdcb7212db59020">TMC2660Stepper::ca</a>()  { <span class="keywordflow">if</span>(<a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>() == 0) <a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>(1); <a class="code" href="_d_r_v_c_t_r_l_8cpp.html#a2d160d3af75cffb12b479504897a995d">GET_REG1</a>(<a class="code" href="class_t_m_c2660_stepper.html#a90e88f991704c5fc7cdcb7212db59020">ca</a>);  }</div>
<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="class_t_m_c2660_stepper.html#ab3470fd014ef1f39c90c6f086d331921">   31</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="class_t_m_c2660_stepper.html#ab3470fd014ef1f39c90c6f086d331921">TMC2660Stepper::phb</a>()    { <span class="keywordflow">if</span>(<a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>() == 0) <a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>(1); <a class="code" href="_d_r_v_c_t_r_l_8cpp.html#a2d160d3af75cffb12b479504897a995d">GET_REG1</a>(<a class="code" href="class_t_m_c2660_stepper.html#ab3470fd014ef1f39c90c6f086d331921">phb</a>); }</div>
<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="class_t_m_c2660_stepper.html#ada1f2c5c372e9aa434c72bc825ce769d">   32</a></span>&#160;uint8_t <a class="code" href="class_t_m_c2660_stepper.html#ada1f2c5c372e9aa434c72bc825ce769d">TMC2660Stepper::cb</a>()  { <span class="keywordflow">if</span>(<a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>() == 0) <a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>(1); <a class="code" href="_d_r_v_c_t_r_l_8cpp.html#a2d160d3af75cffb12b479504897a995d">GET_REG1</a>(<a class="code" href="class_t_m_c2660_stepper.html#ada1f2c5c372e9aa434c72bc825ce769d">cb</a>);  }</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment">// DRVCTRL (STEP/DIR)</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="class_t_m_c2660_stepper.html#a01d9df97977bb8c12e3f562782adbe90">   35</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c2660_stepper.html#a75917a3c209b939392c44a2012287820">TMC2660Stepper::intpol</a>(<span class="keywordtype">bool</span> B) { <span class="keywordflow">if</span>(<a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>()) <span class="keywordflow">return</span>; <a class="code" href="_d_r_v_c_t_r_l_8cpp.html#a0106901688e6b216cfea491ef26cf85f">SET_REG0</a>(<a class="code" href="class_t_m_c2660_stepper.html#a75917a3c209b939392c44a2012287820">intpol</a>); }</div>
<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="class_t_m_c2660_stepper.html#a996a24f7f183a9589d01a5ebde701b03">   36</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c2660_stepper.html#a42f53be2a3773280e12cf9499dd02265">TMC2660Stepper::dedge</a>(<span class="keywordtype">bool</span> B)  { <span class="keywordflow">if</span>(<a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>()) <span class="keywordflow">return</span>; <a class="code" href="_d_r_v_c_t_r_l_8cpp.html#a0106901688e6b216cfea491ef26cf85f">SET_REG0</a>(<a class="code" href="class_t_m_c2660_stepper.html#a42f53be2a3773280e12cf9499dd02265">dedge</a>);  }</div>
<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="class_t_m_c2660_stepper.html#a5d9b27273ae12ef452caf6552d5c6d7c">   37</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c2660_stepper.html#a90c921e4f637bb688c5fadf491ee6f44">TMC2660Stepper::mres</a>(uint8_t B){ <span class="keywordflow">if</span>(<a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>()) <span class="keywordflow">return</span>; <a class="code" href="_d_r_v_c_t_r_l_8cpp.html#a0106901688e6b216cfea491ef26cf85f">SET_REG0</a>(<a class="code" href="class_t_m_c2660_stepper.html#a90c921e4f637bb688c5fadf491ee6f44">mres</a>);   }</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="class_t_m_c2660_stepper.html#a75917a3c209b939392c44a2012287820">   39</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="class_t_m_c2660_stepper.html#a75917a3c209b939392c44a2012287820">TMC2660Stepper::intpol</a>() { <span class="keywordflow">if</span>(<a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>()) <a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>(0); <a class="code" href="_d_r_v_c_t_r_l_8cpp.html#a2543a2e98c05e6772d620d3c538ef0c4">GET_REG0</a>(<a class="code" href="class_t_m_c2660_stepper.html#a75917a3c209b939392c44a2012287820">intpol</a>); }</div>
<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="class_t_m_c2660_stepper.html#a42f53be2a3773280e12cf9499dd02265">   40</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="class_t_m_c2660_stepper.html#a42f53be2a3773280e12cf9499dd02265">TMC2660Stepper::dedge</a>()  { <span class="keywordflow">if</span>(<a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>()) <a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>(0); <a class="code" href="_d_r_v_c_t_r_l_8cpp.html#a2543a2e98c05e6772d620d3c538ef0c4">GET_REG0</a>(<a class="code" href="class_t_m_c2660_stepper.html#a42f53be2a3773280e12cf9499dd02265">dedge</a>);  }</div>
<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="class_t_m_c2660_stepper.html#a90c921e4f637bb688c5fadf491ee6f44">   41</a></span>&#160;uint8_t <a class="code" href="class_t_m_c2660_stepper.html#a90c921e4f637bb688c5fadf491ee6f44">TMC2660Stepper::mres</a>(){ <span class="keywordflow">if</span>(<a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>()) <a class="code" href="class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275">sdoff</a>(0); <a class="code" href="_d_r_v_c_t_r_l_8cpp.html#a2543a2e98c05e6772d620d3c538ef0c4">GET_REG0</a>(<a class="code" href="class_t_m_c2660_stepper.html#a90c921e4f637bb688c5fadf491ee6f44">mres</a>);   }</div>
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<div class="ttc" id="a_d_r_v_c_t_r_l_8cpp_html_a0106901688e6b216cfea491ef26cf85f"><div class="ttname"><a href="_d_r_v_c_t_r_l_8cpp.html#a0106901688e6b216cfea491ef26cf85f">SET_REG0</a></div><div class="ttdeci">#define SET_REG0(SETTING)</div><div class="ttdef"><b>Definition:</b> <a href="_d_r_v_c_t_r_l_8cpp_source.html#l00004">DRVCTRL.cpp:4</a></div></div>
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